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NASA NTRS1991

Neurocontrol and fuzzy logic: Connections and designs

Artificial neural networks (ANNs) and fuzzy logic are complementary technologies. ANNs extract information from systems to be learned or controlled, while fuzzy techniques mainly use verbal information from experts. Ideally, both sources of information should be combined. For example, one can learn rules in a hybrid fashion, and then calibrate them for better whole-system performance. ANNs offer universal approximation theorems, pedagogical advantages, very high-throughput hardware, and links to neurophysiology. Neurocontrol - the use of ANNs to directly control motors or actuators, etc. - uses five generalized designs, related to control theory, which can work on fuzzy logic systems as well as ANNs. These designs can copy what experts do instead of what they say, learn to track trajectories, generalize adaptive control, and maximize performance or minimize cost over time, even in noisy environments. Design tradeoffs and future directions are discussed throughout.

Werbos, Paul J.↗

NASA NTRS1989

Millimeter-wave sensor image enhancement

Images from an airborne, scanning radiometer operating at a frequency of 98 GHz have been analyzed. The millimeter-wave images were obtained in 1985-1986 using the JPL millimeter-wave imaging sensor. The goal of this study was to enhance the information content of these images and make their interpretation easier. A visual-interpretative approach was used for information extraction from the images. This included application of nonlinear transform techniques for noise reduction and for color, contrast, and edge enhancement. Results of using the techniques on selected millimeter-wave images are discussed.

Wilson, William J.↗

NASA NTRS1990

Space-time modeling using environmental constraints in a mobile robot system

Grid-based models of a robot's local environment have been used by many researchers building mobile robot control systems. The attraction of grid-based models is their clear parallel between the internal model and the external world. However, the discrete nature of such representations does not match well with the continuous nature of actions and usually serves to limit the abilities of the robot. This work describes a spatial modeling system that extracts information from a grid-based representation to form a symbolic representation of the robot's local environment. The approach makes a separation between the representation provided by the sensing system and the representation used by the action system. Separation allows asynchronous operation between sensing and action in a mobile robot, as well as the generation of a more continuous representation upon which to base actions.

Slack, Marc G.↗

NASA NTRS1991

Fluid flow near the surface of earth's outer core

This review examines the recent attempts at extracting information on the pattern of fluid flow near the surface of the outer core from the geomagnetic secular variation. Maps of the fluid flow at the core surface are important as they may provide some insight into the process of the geodynamo and may place useful constraints on geodynamo models. In contrast to the case of mantle convection, only very small lateral variations in core density are necessary to drive the flow; these density variations are, by several orders of magnitude, too small to be imaged seismically; therefore, the geomagnetic secular variation is utilized to infer the flow. As substantial differences exist between maps developed by different researchers, the possible underlying reasons for these differences are examined with particular attention given to the inherent problems of nonuniqueness.

Bloxham, Jeremy↗

NASA NTRS1990

Overview of the potential instrument payload for the EOS system

The Earth Observing System (EOS) is a key element of the U.S. Program in Global Change. It is NASA's initiative to provide the scientific means to observe the earth as a system. The EOS satellite system and accompanying Data and Information System (DIS) provide spacebased platforms and groundbased elements for scientific research and information extraction. The program recognizes the need for global coverage, long term observations, and multidisciplinary analyses in order to detect subtle changes in the environment's state. A multidisciplinary payload of active and passive sensors is proposed to accomplish the objectives of the program. International partners are an important element of the program. This paper focuses on the instrument complement for the EOS-A spacecraft since those decisions will occur this year. Significant programmatic constraints and program science decisions will impact the selection of the EOS-A payload.

Thompson, Leslie L.↗

NASA NTRS1992

Automatic Detection Of Faults In Turbomachinery Bearings

System of analog and digital signal-processing equipment, computers, and programs detects faults in ball bearings in turbomachines. System operates in real time, extracting information from vibrations sensed by accelerometers, strain gauges, and/or acoustical sensors. Vibrations caused when pits in balls contact races, and pits in races contact balls.

Higbie, Nathan B.↗

NASA NTRS1991

Photographic Image Restoration

Deblurring capabilities would significantly improve the Flight Science Support Office's ability to monitor the effects of lift-off on the shuttle and landing on the orbiter. A deblurring program was written and implemented to extract information from blurred images containing a straight line or edge and to use that information to deblur the image. The program was successfully applied to an image blurred by improper focussing and two blurred by different amounts of blurring. In all cases, the reconstructed modulation transfer function not only had the same zero contours as the Fourier transform of the blurred image but the associated point spread function also had structure not easily described by simple parameterizations. The difficulties posed by the presence of noise in the blurred image necessitated special consideration. An amplitude modification technique was developed for the zero contours of the modulation transfer function at low to moderate frequencies and a smooth filter was used to suppress high frequency noise.

Hite, Gerald E.↗

NASA NTRS1992

Implementations of learning control systems using neural networks

The systematic storage in neural networks of prior information to be used in the design of various control subsystems is investigated. Assuming that the prior information is available in a certain form (namely, input/output data points and specifications between the data points), a particular neural network and a corresponding parameter design method are introduced. The proposed neural network addresses the issue of effectively using prior information in the areas of dynamical system (plant and controller) modeling, fault detection and identification, information extraction, and control law scheduling.

Sartori, Michael A.↗

NASA NTRS1992

An evidential reasoning extension to quantitative model-based failure diagnosis

The detection and diagnosis of failures in physical systems characterized by continuous-time operation are studied. A quantitative diagnostic methodology has been developed that utilizes the mathematical model of the physical system. On the basis of the latter, diagnostic models are derived each of which comprises a set of orthogonal parity equations. To improve the robustness of the algorithm, several models may be used in parallel, providing potentially incomplete and/or conflicting inferences. Dempster's rule of combination is used to integrate evidence from the different models. The basic probability measures are assigned utilizing quantitative information extracted from the mathematical model and from online computation performed therewith.

Gertler, Janos J.↗

NASA NTRS1991

Optical correlators for automated rendezvous and capture

The paper begins with a description of optical correlation. In this process, the propagation physics of coherent light is used to process images and extract information. The processed image is operated on as an area, rather than as a collection of points. An essentially instantaneous convolution is performed on that image to provide the sensory data. In this process, an image is sensed and encoded onto a coherent wavefront, and the propagation is arranged to create a bright spot of the image to match a model of the desired object. The brightness of the spot provides an indication of the degree of resemblance of the viewed image to the mode, and the location of the bright spot provides pointing information. The process can be utilized for AR&C to achieve the capability to identify objects among known reference types, estimate the object's location and orientation, and interact with the control system. System characteristics (speed, robustness, accuracy, small form factors) are adequate to meet most requirements. The correlator exploits the fact that Bosons and Fermions pass through each other. Since the image source is input as an electronic data set, conventional imagers can be used. In systems where the image is input directly, the correlating element must be at the sensing location.

Juday, Richard D.↗

NASA NTRS1992

Surface finish quality of the outer AXAF mirror pair based on x ray measurements of the VETA-I

We employ the X-ray measurements of the VETA-I taken at the X-Ray Calibration Facility (XRCF) of the Marshall Space Flight Center (MSFC) to extract information about the surface finish quality of the outermost pair of AXAF mirrors. The particular measurements we consider are one dimensional scans of the core of the point response function (PRF) (full width half maximum (FWHM) scans), the encircled energy as a function of radius, and one dimensional scans of the wings of the PRF. We discuss briefly our ray trace model which incorporates the numerous effects present in the VETA-I test, such as the finite source distance, the size and shape of the X-ray source, the residual gravitational distortions of the optic, the despace of the VETA-I, and particulate contamination. We show how the data constrain the amplitude of mirror surface deviations for spatial frequencies greater than about 0.1 mm(exp -1). Constraints on the average amplitude of circumferential slope errors are derived as well.

Hughes, John P.↗

NASA NTRS1993

Multiscale Morphological Filtering for Analysis of Noisy and Complex Images

Images acquired with passive sensing techniques suffer from illumination variations and poor local contrasts that create major difficulties in interpretation and identification tasks. On the other hand, images acquired with active sensing techniques based on monochromatic illumination are degraded with speckle noise. Mathematical morphology offers elegant techniques to handle a wide range of image degradation problems. Unlike linear filters, morphological filters do not blur the edges and hence maintain higher image resolution. Their rich mathematical framework facilitates the design and analysis of these filters as well as their hardware implementation. Morphological filters are easier to implement and are more cost effective and efficient than several conventional linear filters. Morphological filters to remove speckle noise while maintaining high resolution and preserving thin image regions that are particularly vulnerable to speckle noise were developed and applied to SAR imagery. These filters used combination of linear (one-dimensional) structuring elements in different (typically four) orientations. Although this approach preserves more details than the simple morphological filters using two-dimensional structuring elements, the limited orientations of one-dimensional elements approximate the fine details of the region boundaries. A more robust filter designed recently overcomes the limitation of the fixed orientations. This filter uses a combination of concave and convex structuring elements. Morphological operators are also useful in extracting features from visible and infrared imagery. A multiresolution image pyramid obtained with successive filtering and a subsampling process aids in the removal of the illumination variations and enhances local contrasts. A morphology-based interpolation scheme was also introduced to reduce intensity discontinuities created in any morphological filtering task. The generality of morphological filtering techniques in extracting information from a wide variety of images obtained with active and passive sensing techniques is discussed. Such techniques are particularly useful in obtaining more information from fusion of complex images by different sensors such as SAR, visible, and infrared.

Kher, A.↗

NASA NTRS1991

Static versus dynamical cosmic-ray halos

The dynamical halo of the Galaxy offers a natural explanation for the form of the variation of cosmic-ray path length with energy. The variation above 1 GeV per nucleon can be understood as due to the variation of the diffusion coefficient, and hence the resident time in the galaxy, with energy. The flattening of the curve below 1 GeV per nucleon is seen to mark a transition to a convection dominated regime where the variation of the diffusion coefficient is no longer a determining factor. It is possible that the random motion of the cosmic rays about the galaxy that prevents us from seeing their sources in a clear manner may enable us to extract information about the galaxy at large and learn something about its large scale motions.

Jones, Frank C.↗

NASA NTRS1991

Hierarchical multisensor analysis for robotic exploration

Robotic vehicles for lunar and Mars exploration will carry an array of complex instruments requiring real-time data interpretation and fusion. The system described here uses hierarchical multiresolution analysis of visible and multispectral images to extract information on mineral composition, texture and object shape. This information is used to characterize the site geology and choose interesting samples for acquisition. Neural networks are employed for many data analysis steps. A decision tree progressively integrates information from multiple instruments and performs goal-driven decision making. The system is designed to incorporate more instruments and data types as they become available.

Eberlein, Susan↗

NASA NTRS1992

On the use of ANN interconnection weights in optimal structural design

The present paper describes the use of interconnection weights of a multilayer, feedforward network, to extract information pertinent to the mapping space that the network is assumed to represent. In particular, these weights can be used to determine an appropriate network architecture, and an adequate number of training patterns (input-output pairs) have been used for network training. The weight analysis also provides an approach to assess the influence of each input parameter on a selected output component. The paper shows the significance of this information in decomposition driven optimal design.

Hajela, P.↗

NASA NTRS1991

Regional exploration in desert terrains - A guide to the use of Landsat Thematic Mapper imagery

This paper provides a guide for the acquisition, processing, and interpretation of Landsat Thematic Mapper (TM) imagery of desert terrains for use in regional exploration. Sun angle considerations, data quality cautions, noise suppression routines, band selections, data calibration, spectral enhancements, perceptual considerations of displays, and general interpretation guidelines are all discussed as components of an image-information extraction procedure.

Crippen, Robert E.↗

NASA NTRS1993

Surface finish quality of the outer AXAF mirror pair based on X-ray measurements of the VETA-I

We employ the X-ray measurements of the VETA-I taken at the X-Ray Calibration Facility (XRCF) of the Marshall Space Flight Center (MSFC) to extract information about the surface finish quality of the outermost pair of AXAF mirrors. The particular measurements we consider are 1D scans of the core of the point response function (PRF) (FWHM scans), the encircled energy as a function of radius, and 1D scans of the wings of the PRF. We discuss briefly our raytrace model which incorporates the numerous effects present in the VETA-I test, such as the finite source distance, the size and shape of the X-ray source, the residual gravitational distortions of the optic, the despace of the VETA-I, and particulate contamination. We show how the data constrain the amplitude of mirror surface deviations for spatial frequencies greater than about 0.1/mm. Constraints on the average amplitude of circumferential slope errors are derived as well.

Hughes, John P.↗

NASA NTRS1993

Terrestrial imaging spectrometry - Current status, future trends

A review of recent progress in the field of imaging spectrometry is presented based on the 14 articles comprising the special issue of this journal. The results presented were achieved through research done with data from the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS), the first imaging spectrometer to cover the full solar reflected portion of the spectrum. The majority of the early work in imaging spectrometry prior to AVIRIS focused largely on geological applications and specifically surface mineral identification. In the past 5 years, the range of applications has expanded into the scientific disciplines of ecology, hydrology, oceanography, and atmospheric science. Significant progress has also been made in sensor design and calibration, and information extraction. NASA plans to place high spectral resolution sensors in earth orbit within the next few years; two have been flown already on recent planetary missions and have proven to be of great value to the study of planetary surfaces and atmospheres. The work presented in this issue will lead directly to more effective utilization of imaging spectrometry in the study of the earth. We present a discussion of future trends in imaging spectrometry at the conclusion of this article.

Vane, Gregg↗